/**
* Returns a copy of this Hand object transformed by the specifid transform matrix.
*/
public Hand TransformedCopy(LeapTransform trs)
{
List <Finger> transformedFingers = new List <Finger>(5);
for (int f = 0; f < this.Fingers.Count; f++)
{
transformedFingers.Add(Fingers[f].TransformedCopy(trs));
}
return(new Hand(
FrameId,
Id,
Confidence,
GrabStrength,
GrabAngle,
PinchStrength,
PinchDistance,
PalmWidth * trs.scale.x,
IsLeft,
TimeVisible,
Arm.TransformedCopy(trs),
transformedFingers,
trs.TransformPoint(PalmPosition),
trs.TransformPoint(StabilizedPalmPosition),
trs.TransformVelocity(PalmVelocity),
trs.TransformDirection(PalmNormal),
trs.TransformDirection(Direction),
trs.TransformPoint(WristPosition)
));
}
/**
* Does an in-place rigid transformation of a Finger.
*
* @param transform A LeapTransform containing the desired translation, rotation, and scale
* to be applied to the Finger.
*/
public static Finger Transform(this Finger finger, LeapTransform transform)
{
Bone nextBone = finger.bones[3];
nextBone.NextJoint = transform.TransformPoint(nextBone.NextJoint);
finger.TipPosition = nextBone.NextJoint;
for (int i = 3; i-- != 0;)
{
Bone bone = finger.bones[i];
bone.NextJoint = nextBone.PrevJoint = transform.TransformPoint(bone.NextJoint);
nextBone.TransformGivenJoints(transform);
nextBone = bone;
}
nextBone.PrevJoint = transform.TransformPoint(nextBone.PrevJoint);
nextBone.TransformGivenJoints(transform);
finger.TipVelocity = transform.TransformVelocity(finger.TipVelocity);
finger.Direction = finger.bones[2].Direction;
finger.StabilizedTipPosition = transform.TransformPoint(finger.StabilizedTipPosition);
finger.Width *= Math.Abs(transform.scale.x);
finger.Length *= Math.Abs(transform.scale.z);
return(finger);
}
/**
* Does an in-place rigid transformation of a Bone.
*
* @param transform A LeapTransform containing the desired translation, rotation, and scale
* - * to be applied to the bone.
*/
public static Bone Transform(this Bone bone, LeapTransform transform)
{
bone.PrevJoint = transform.TransformPoint(bone.PrevJoint);
bone.NextJoint = transform.TransformPoint(bone.NextJoint);
bone.TransformGivenJoints(transform);
return(bone);
}
/**
* Creates a copy of this arm, transformed by the specified transform.
*
* @param trs A LeapTransform containing the desired translation, rotation, and scale
* of the copied arm.
* @since 3.0
*/
public new Arm TransformedCopy(LeapTransform trs)
{
return(new Arm(trs.TransformPoint(PrevJoint),
trs.TransformPoint(NextJoint),
trs.TransformPoint(Center),
trs.TransformDirection(Direction),
Length * trs.scale.z,
Width * trs.scale.x,
trs.TransformQuaternion(Rotation)));
}
/**
* Creates a copy of this finger, transformed by the specified transform.
*
* @param trs A LeapTransform containing the desired translation, rotation, and scale
* of the copied finger.
* @since 3.0
*/
public Finger TransformedCopy(LeapTransform trs)
{
return(new Finger(_frameId,
HandId,
Id % 10, //remove hand portion of finger Id
TimeVisible,
trs.TransformPoint(TipPosition),
trs.TransformVelocity(TipVelocity),
trs.TransformDirection(Direction),
trs.TransformPoint(StabilizedTipPosition),
Width * trs.scale.x,
Length * trs.scale.z,
IsExtended,
Type,
_bones[0].TransformedCopy(trs),
_bones[1].TransformedCopy(trs),
_bones[2].TransformedCopy(trs),
_bones[3].TransformedCopy(trs)));
}
/**
* Does an in-place rigid transformation of a Hand.
*
* @param transform A LeapTransform containing the desired translation, rotation, and scale
* to be applied to the Hand.
*/
public static Hand Transform(this Hand hand, LeapTransform transform)
{
hand.PalmPosition = transform.TransformPoint(hand.PalmPosition);
hand.StabilizedPalmPosition = transform.TransformPoint(hand.StabilizedPalmPosition);
hand.PalmVelocity = transform.TransformVelocity(hand.PalmVelocity);
hand.PalmNormal = transform.TransformDirection(hand.PalmNormal);
hand.Direction = transform.TransformDirection(hand.Direction);
hand.WristPosition = transform.TransformPoint(hand.WristPosition);
hand.PalmWidth *= Math.Abs(transform.scale.x);
hand.Rotation = transform.TransformQuaternion(hand.Rotation);
hand.Arm.Transform(transform);
for (int i = 5; i-- != 0;)
{
hand.Fingers[i].Transform(transform);
}
return(hand);
}
/**
* Creates a copy of this finger, transformed by the specified transform.
*
* @param trs A LeapTransform containing the desired translation, rotation, and scale
* of the copied finger.
* @since 3.0
*/
public Finger TransformedCopy(LeapTransform trs)
{
return new Finger(_frameId,
HandId,
Id % 10, //remove hand portion of finger Id
TimeVisible,
trs.TransformPoint(TipPosition),
trs.TransformVelocity(TipVelocity),
trs.TransformDirection(Direction),
trs.TransformPoint(StabilizedTipPosition),
Width * trs.scale.x,
Length * trs.scale.z,
IsExtended,
Type,
_bones[0].TransformedCopy(trs),
_bones[1].TransformedCopy(trs),
_bones[2].TransformedCopy(trs),
_bones[3].TransformedCopy(trs));
}
/**
* Creates a copy of this arm, transformed by the specified transform.
*
* @param trs A LeapTransform containing the desired translation, rotation, and scale
* of the copied arm.
* @since 3.0
*/
public new Arm TransformedCopy(LeapTransform trs)
{
return new Arm(trs.TransformPoint(PrevJoint),
trs.TransformPoint(NextJoint),
trs.TransformPoint(Center),
trs.TransformDirection(Direction),
Length * trs.scale.z,
Width * trs.scale.x,
trs.TransformQuaternion(Rotation));
}
